{"title":"Research on adaptive backstepping sliding mode control method for a hex-rotor Unmanned Aerial Vehicle","authors":"Zhuo Zhang, Zhenghua Liu, Nuan Wen","doi":"10.1109/CGNCC.2016.7828844","DOIUrl":null,"url":null,"abstract":"This paper concentrates on attitude control and spot hover about the hex-rotor Unmanned Aerial Vehicle (UAV). First of all, according to the Newton - Euler equation, set up the equations of motion in inertial frame. Then based on the characteristics of the hex-rotor UAV model, adaptive backstepping sliding mode controllers are designed to realize the attitude and position control. Finally, the control strategy is verified by the simulation. It's proved that the control system has strong robustness to both the disturbance and the parametric variation.","PeriodicalId":426650,"journal":{"name":"2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)","volume":"136 3","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CGNCC.2016.7828844","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 5
Abstract
This paper concentrates on attitude control and spot hover about the hex-rotor Unmanned Aerial Vehicle (UAV). First of all, according to the Newton - Euler equation, set up the equations of motion in inertial frame. Then based on the characteristics of the hex-rotor UAV model, adaptive backstepping sliding mode controllers are designed to realize the attitude and position control. Finally, the control strategy is verified by the simulation. It's proved that the control system has strong robustness to both the disturbance and the parametric variation.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
